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Sensors (Basel). 2010;10(12):10733-51. doi: 10.3390/s101210733. Epub 2010 Dec 2.

Upper limb portable motion analysis system based on inertial technology for neurorehabilitation purposes.

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  • 1Bioengineering and Telemedicine Centre, ETSI Telecomunicación, Universidad Politécnica de Madrid, 28040, Madrid, Spain.


Here an inertial sensor-based monitoring system for measuring and analyzing upper limb movements is presented. The final goal is the integration of this motion-tracking device within a portable rehabilitation system for brain injury patients. A set of four inertial sensors mounted on a special garment worn by the patient provides the quaternions representing the patient upper limb's orientation in space. A kinematic model is built to estimate 3D upper limb motion for accurate therapeutic evaluation. The human upper limb is represented as a kinematic chain of rigid bodies with three joints and six degrees of freedom. Validation of the system has been performed by co-registration of movements with a commercial optoelectronic tracking system. Successful results are shown that exhibit a high correlation among signals provided by both devices and obtained at the Institut Guttmann Neurorehabilitation Hospital.


biomechanical model; inertial sensors; motion tracking; neurorehabilitation; upper limb

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